Some Applications of Natural Motion Control

1991 ◽  
Vol 113 (4) ◽  
pp. 552-557 ◽  
Author(s):  
D. E. Koditschek
Keyword(s):  
Mechanical System ◽  
Motion Control ◽  
Configuration Space ◽  
Planning System ◽  
Asymptotically Stable ◽  
Natural Control ◽  
Globally Asymptotically Stable ◽  
Closed Loops ◽  
Natural Motion ◽  
Navigation Function

This paper offers two engineering applications of the theoretical ideas presented in [13]. Each case concerns a generalized setpoint problem for a mechanical system whose configuration space does not permit globally asymptotically stable closed loops. By presenting a navigation function for each case, the paper shows how “natural control” may provide a degree of autonomy of execution without the appeal to a higher level planning system.

scholarly journals The Control of Natural Motion in Mechanical Systems

1991 ◽  
Vol 113 (4) ◽  
pp. 547-551 ◽  
Author(s):  
D. E. Koditschek
Keyword(s):  
Cost Function ◽  
Mechanical System ◽  
Mechanical Systems ◽  
Machine Design ◽  
Simple Extension ◽  
Natural Motion ◽  
Navigation Function ◽  
The Many ◽  
Autonomous Machine

This paper concerns a simple extension of Lord Kelvin’s observation that energy decays in a dissipative mechanical system. The global limit behavior of such systems can be made essentially equivalent to that of much simpler gradient systems by the introduction of a “navigation function” in the role of an artificial field. This recourse to the mechanical system’s natural motion helps transform the open-ended problem of autonomous machine design into the more structured problem of finding an appropriate “cost function” in the many situations that the goal may be encoded as a setpoint problem with configuration constraints.

NUMERICAL AND STABILITY ANALYSIS OF THE TRANSMISSION DYNAMICS OF SVIR EPIDEMIC MODEL WITH STANDARD INCIDENCE RATE

2019 ◽  
Vol 4 (2) ◽  
pp. 349 ◽  
Author(s):  
Oluwatayo Michael Ogunmiloro ◽  
Fatima Ohunene Abedo ◽  
Hammed Kareem
Keyword(s):  
Reproduction Number ◽  
Disease Spread ◽  
Asymptotically Stable ◽  
Equilibrium Solutions ◽  
Transform Method ◽  
Globally Asymptotically Stable ◽  
Differential Transform ◽  
Mathematical Techniques ◽  
Fourth Order Method ◽  
Theoretical Results

In this article, a Susceptible – Vaccinated – Infected – Recovered (SVIR) model is formulated and analysed using comprehensive mathematical techniques. The vaccination class is primarily considered as means of controlling the disease spread. The basic reproduction number (Ro) of the model is obtained, where it was shown that if Ro<1, at the model equilibrium solutions when infection is present and absent, the infection- free equilibrium is both locally and globally asymptotically stable. Also, if Ro>1, the endemic equilibrium solution is locally asymptotically stable. Furthermore, the analytical solution of the model was carried out using the Differential Transform Method (DTM) and Runge - Kutta fourth-order method. Numerical simulations were carried out to validate the theoretical results. 

scholarly journals Stability analysis of a dynamical model of tuberculosis with incomplete treatment

2020 ◽  
Vol 2020 (1) ◽  
Author(s):  
Ihsan Ullah ◽  
Saeed Ahmad ◽  
Qasem Al-Mdallal ◽  
Zareen A. Khan ◽  
Hasib Khan ◽  
...  
Keyword(s):  
Disease Transmission ◽  
Contact Rate ◽  
Asymptotically Stable ◽  
Treatment Rate ◽  
Globally Asymptotically Stable ◽  
Reproduction Ratio ◽  
Efficient Treatment ◽  
Effective Contact ◽  
The Impact ◽  
Incomplete Treatment

Abstract A simple deterministic epidemic model for tuberculosis is addressed in this article. The impact of effective contact rate, treatment rate, and incomplete treatment versus efficient treatment is investigated. We also analyze the asymptotic behavior, spread, and possible eradication of the TB infection. It is observed that the disease transmission dynamics is characterized by the basic reproduction ratio $\Re _{0}$ ℜ 0 ; if $\Re _{0}<1$ ℜ 0 < 1 , there is only a disease-free equilibrium which is both locally and globally asymptotically stable. Moreover, for $\Re _{0}>1$ ℜ 0 > 1 , a unique positive endemic equilibrium exists which is globally asymptotically stable. The global stability of the equilibria is shown via Lyapunov function. It is also obtained that incomplete treatment of TB causes increase in disease infection while efficient treatment results in a reduction in TB. Finally, for the estimated parameters, some numerical simulations are performed to verify the analytical results. These numerical results indicate that decrease in the effective contact rate λ and increase in the treatment rate γ play a significant role in the TB infection control.

scholarly journals Stability and Hopf Bifurcation for a Delayed SIR Epidemic Model with Logistic Growth

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Yakui Xue ◽  
Tiantian Li
Keyword(s):  
Incidence Rate ◽  
Epidemic Model ◽  
Threshold Value ◽  
Endemic Equilibrium ◽  
Logistic Growth ◽  
Global Dynamics ◽  
Asymptotically Stable ◽  
Sir Epidemic Model ◽  
Globally Asymptotically Stable ◽  
Sir Epidemic

We study a delayed SIR epidemic model and get the threshold value which determines the global dynamics and outcome of the disease. First of all, for anyτ, we show that the disease-free equilibrium is globally asymptotically stable; whenR0<1, the disease will die out. Directly afterwards, we prove that the endemic equilibrium is locally asymptotically stable for anyτ=0; whenR0>1, the disease will persist. However, for anyτ≠0, the existence conditions for Hopf bifurcations at the endemic equilibrium are obtained. Besides, we compare the delayed SIR epidemic model with nonlinear incidence rate to the one with bilinear incidence rate. At last, numerical simulations are performed to illustrate and verify the conclusions.

scholarly journals Dynamics Analysis and Simulation of a Modified HIV Infection Model with a Saturated Infection Rate

2014 ◽  
Vol 2014 ◽  
pp. 1-14 ◽  
Author(s):  
Qilin Sun ◽  
Lequan Min
Keyword(s):  
Drug Resistance ◽  
Antiretroviral Therapy ◽  
Hiv Infection ◽  
Equilibrium Point ◽  
Infection Rate ◽  
Reproductive Number ◽  
Infection Model ◽  
Asymptotically Stable ◽  
Globally Asymptotically Stable ◽  
Hiv Rna

This paper studies a modified human immunodeficiency virus (HIV) infection differential equation model with a saturated infection rate. It is proved that if the basic virus reproductive numberR0of the model is less than one, then the infection-free equilibrium point of the model is globally asymptotically stable; ifR0of the model is more than one, then the endemic infection equilibrium point of the model is globally asymptotically stable. Based on the clinical data from HIV drug resistance database of Stanford University, using the proposed model simulates the dynamics of the two groups of patients’ anti-HIV infection treatment. The numerical simulation results are in agreement with the evolutions of the patients’ HIV RNA levels. It can be assumed that if an HIV infected individual’s basic virus reproductive numberR0<1then this person will recover automatically; if an antiretroviral therapy makes an HIV infected individual’sR0<1, this person will be cured eventually; if an antiretroviral therapy fails to suppress an HIV infected individual’s HIV RNA load to be of unpredictable level, the time that the patient’s HIV RNA level has achieved the minimum value may be the starting time that drug resistance has appeared.

scholarly journals Threshold dynamics and threshold analysis of HIV infection model with treatment

2020 ◽  
Vol 2020 (1) ◽  
Author(s):  
Zhimin Chen ◽  
Xiuxiang Liu ◽  
Liling Zeng
Keyword(s):  
Hiv Infection ◽  
Time Delays ◽  
Dynamical Behavior ◽  
Infection Model ◽  
Threshold Dynamics ◽  
Positive Equilibrium ◽  
Asymptotically Stable ◽  
Globally Asymptotically Stable ◽  
Immunodeficiency Virus ◽  
Hiv Infection Model

Abstract In this paper, a human immunodeficiency virus (HIV) infection model that includes a protease inhibitor (PI), two intracellular delays, and a general incidence function is derived from biologically natural assumptions. The global dynamical behavior of the model in terms of the basic reproduction number $\mathcal{R}_{0}$ R 0 is investigated by the methods of Lyapunov functional and limiting system. The infection-free equilibrium is globally asymptotically stable if $\mathcal{R}_{0}\leq 1$ R 0 ≤ 1 . If $\mathcal{R}_{0}>1$ R 0 > 1 , then the positive equilibrium is globally asymptotically stable. Finally, numerical simulations are performed to illustrate the main results and to analyze thre effects of time delays and the efficacy of the PI on $\mathcal{R}_{0}$ R 0 .

Dynamical analysis of a reaction–diffusion SEI epidemic model with nonlinear incidence rate

2021 ◽  
pp. 2150041
Author(s):  
Jianpeng Wang ◽  
Binxiang Dai
Keyword(s):  
Steady State ◽  
Incidence Rate ◽  
Epidemic Model ◽  
Reaction Diffusion ◽  
Dynamical Analysis ◽  
Asymptotically Stable ◽  
Nonlinear Incidence Rate ◽  
Globally Asymptotically Stable ◽  
Nonlinear Incidence ◽  
Positive Steady State

In this paper, a reaction–diffusion SEI epidemic model with nonlinear incidence rate is proposed. The well-posedness of solutions is studied, including the existence of positive and unique classical solution and the existence and the ultimate boundedness of global solutions. The basic reproduction numbers are given in both heterogeneous and homogeneous environments. For spatially heterogeneous environment, by the comparison principle of the diffusion system, the infection-free steady state is proved to be globally asymptotically stable if [Formula: see text] if [Formula: see text], the system will be persistent and admit at least one positive steady state. For spatially homogenous environment, by constructing a Lyapunov function, the infection-free steady state is proved to be globally asymptotically stable if [Formula: see text] and then the unique positive steady state is achieved and is proved to be globally asymptotically stable if [Formula: see text]. Finally, two examples are given via numerical simulations, and then some control strategies are also presented by the sensitive analysis.

Global Dynamics of a Holling-II Amensalism System with Nonlinear Growth Rate and Allee Effect on the First Species

2021 ◽  
Vol 31 (03) ◽  
pp. 2150050
Author(s):  
Demou Luo ◽  
Qiru Wang
Keyword(s):  
Growth Rate ◽  
Allee Effect ◽  
Global Dynamics ◽  
Asymptotically Stable ◽  
Globally Asymptotically Stable ◽  
Nonlinear Growth ◽  
Trivial Equilibrium ◽  
Existence And Stability ◽  
Stable Equilibria ◽  
Theoretical Results

Of concern is the global dynamics of a two-species Holling-II amensalism system with nonlinear growth rate. The existence and stability of trivial equilibrium, semi-trivial equilibria, interior equilibria and infinite singularity are studied. Under different parameters, there exist two stable equilibria which means that this model is not always globally asymptotically stable. Together with the existence of all possible equilibria and their stability, saddle connection and close orbits, we derive some conditions for transcritical bifurcation and saddle-node bifurcation. Furthermore, the global dynamics of the model is performed. Next, we incorporate Allee effect on the first species and offer a new analysis of equilibria and bifurcation discussion of the model. Finally, several numerical examples are performed to verify our theoretical results.

scholarly journals Adaptive 3D Distance-Based Formation Control of Multiagent Systems with Unknown Leader Velocity and Coplanar Initial Positions

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Xuejing Lan ◽  
Wenbiao Xu ◽  
Yun-Shan Wei
Keyword(s):  
Theoretical Analysis ◽  
Multiagent Systems ◽  
Relative Position ◽  
Formation Control ◽  
Control Law ◽  
Asymptotically Stable ◽  
Coordinate Systems ◽  
Lyapunov Theorem ◽  
Globally Asymptotically Stable ◽  
3 Dimensional

This paper considers the distributed 3-dimensional (3D) distance-based formation control of multiagent systems, where the agents are connected based on an acyclic minimally structural persistent (AMSP) graph. A parameter is designed according to the desired formation shape and is used to solve the problem that there are two formation shapes satisfying the same distance requirements. The unknown moving velocity of the leader agent is estimated adaptively by the followers requiring only the relative position measurements with respect to their local coordinate systems. In addition, the proposed formation controller provides a new way for the agent to leave the initial coplanar location. The 3D formation control law is globally asymptotically stable and has been demonstrated based on the Lyapunov theorem. Finally, two numerical simulations are presented to support the theoretical analysis.

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